Mitsubishi Electric CR800 Series Instruction Manual page 32

3 Specification
The interface between tracking enable signal is shown follow.
This signal is used for input signal when the
output signal of
photoelectronic
The connection robot system with Q173DPX unit is shown as follow.
Item
Encoder
Tracking input points
Slot that can be
connected
Robot CPU unit that
can be managed
Robot CPU encoder
that can be managed
3-20 Q173DPX（manual pulser input）unit specification
photoelectronic
sensor.
Figure3-4 Connected composition of tracking enable signal
Table3-4 Spec list of Q173DPX in robot system
Incremental synchronous encoder 3pcs
3points
Three points can be input to ± TREN1-3 in the pin assignment of the unit.
When the input of a photoelectric sensor is put, this input is used.
Connection with the base unit Possible to install I/O slot since 3
（Impossible to install CPU slot or I/O slot 0 to 2）
Connection with additional base unit Possible to install all slots.
Q173DPX unit 3pcs
Max 8pcs
Impossible to use the third channel of the third Q173DPX unit.
And impossible to use the encoder connected with the third channel of the unit
specified for parameter「ENCUNIT3」.
sensor is used to find workpieces so please connect
Spec and Remark